SCARA robots for industrial applications

Transcription

1 Industrial robots SCARA robots for industrial applications»» Reliable and versatile»»simple programming and quick set-up»»pick & Place

2 A win-win mechatronics proposition Your benefits: Simplify your machines and reduce manufacturing times using SCARA robots. Flexibility and a wide range allow you to choose exactly the right model for your needs. Mechanical features based on a simple (optimized) design offer high quality at a very competitive price. Easy programming and minimum maintenance reduce application start-up time and increase machine reliability. Higher reliability (no belts in XG series, no electronic parts in movement) Higher precision and speed Minimum maintenance Easier to use Lower cost Higher rigidity Very compact design

3 Complete solution including vision and conveyor tracking As a machine control specialist, Omron can offer a more complete mechatronics solution to automate your machine. The integration of SCARA robots, PLC and vision systems is supported by structured programs and Function Blocks that ensure optimal performance from the machine. Two options for vision system applications High-End solution: Xpectia vision system Basic solution: SCARA vision studio The integrated vision system offers a simple programming method for pick & place applications. The Xpectia vision system combines high speed part identification and quality control to solve complex pick & place applications. It features a tailored user interface for automatic robot calibration. Encoder feedback Robot controller Encoder feedback Robot controller PLC

4 For the reliability of your application The standard XG series implements a very reliable technology thanks to the simplicity of the mechanical system used for all axes. Completely without belts! The motion transmission is simply realized by direct coupling between motors and gearboxes (ballscrew for vertical axis) that ensures high accuracy and reduces the required maintenance. Vertical shaft motor Rotary shaft motor Drive by pulley and timing belt Vertical shaft ballscrew Conventional model Omron model XG series Vertical shaft motor (directly connected) Rotary shaft hollow motor Rotary shaft hollow gear box Simulation software ScaraSim Using the simulation software it s possible to select the right robot type for your application. The motion planning calculation uses the same algorithm implemented in the robot controller in order to ensure the most reliable estimations. Easy programming plus integration Program Library: Standard programs for pick & place application with tracking and vision system Palletizing Sealing Function Blocks available for communicating with: Vision systems (Xpectia,ZFX) CJ PLC series (DeviceNet, Ethernet, RS232, etc)

5 Wide range providing the performance you ne The wide reach and payload ranges from 120 mm to 1200 mm and from 1 kg to 50 kg, allowing for precise adjustment of the robot to your application. Special versions, such as clean-room and dust/drip-proof types enable installation in critical environments for applications in the food and pharmaceutical industries. For special customization please contact your Omron representative. For further technical details please refer to the robot datasheet STANDARD MODELS XG series Tiny type X series R6YXG120 R6YXG150 R6YXG180 R6YXG220 R6YXH250 R6YXH350 R6YXH400 Max. payload (kg) Reach (mm) X,Y ±(mm) 0,005 0,005 0,005 0,01 0,01 0,01 0,01 Repeatability (mm) *1 Z ±(mm) 0,01 0,01 0,01 0,01 0,01 0,01 0,01 R ±(º) 0,004 0,004 0,004 0,01 0,005 0,005 0,005 X Arm length (mm) Rotation range ±(º) Axis specifications Y Arm length (mm) Rotation range ±(º) Z Stroke (mm) R Rotation range ±(º) X,Y Combined (mm/s) Maximum speed Z (mm/s) R (º/s) Standard time cycle (sec) 0.33(*2) 0.33 (*2) 0.33 (*2) 0.46 (*2) 0.54 (*3) 0.54 (*3) 0.49 (*3) Weight (kg) 6 6,1 6, H: Stroke =300 Regeneration unit N.A. N.A. N.A. N.A. N.A. N.A. N.A. Special MODELs XC series Clean type R6YXC180 R6YXC220 R6YXCH250 R6YXCH350 R6YXCH400 R6YXC500 R6YXC600 R6YXC700 R6YXC800 R6YXC1000 R6YXP25 Max. payload (kg) Reach (mm) X,Y ±(mm) 0,01 0,01 0,01 0,01 0,01 0,02 0,02 0,02 0,02 0,02 0,01 Repeatability (mm) *1 Z ±(mm) 0,01 0,01 0,01 0,01 0,01 0,01 0,01 0,01 0,01 0,01 0,01 R ±(º) 0,004 0,004 0,005 0,005 0,005 0,005 0,005 0,005 0,005 0,005 0,005 X Arm length (mm) Rotation range ±(º) Axis specifications Y Arm length (mm) Rotation range ±(º) Z Stroke (mm) (300) 200(300) 200(400) 200(400) 200(400) 150 R Rotation range ±(º) X,Y Combined (mm/s) Maximum speed Z (mm/s) R (º/s) Standard time cycle (sec) 0.42 (*2) 0.45 (*2) 0.54 (*3) 0.54 (*3) 0.66 (*3) 0.53 (*3) 0.56 (*3) 0.57 (*3) 0.57 (*3) 0.6 (*3) 0.54 (*3 Weight (kg) 6,5 6, User wiring (sq x wires) User tubing (ø) 0.1 sq x 8 wires; ø 3 x sq x 10 wires; ø 4 x sq x 20 wires; ø 6 x 3 Class 10; Suct. vol. (Nl/min) = 30; Class 10; Suction volume (Nl/min) = 60; Regeneration unit N.A. N.A. N.A. N.A. N.A. RGU2 RGU2 RGU2 RGU2 RGU2 N.A. *1 This is the value at constant ambient temperature *2 With 0.1 kg payload. When reciprocating 100mm in horizontal and 25mm in vertical directions. *3 With 2 kg payload. When reciprocating 300mm in horizontal and 25m

6 ed... Rotation range Y Rotation range X Payload (kg) Standard cycle time 300 mm 25 mm Z Stroke Reach XG series X series R6YXG500 R6YXG600 R6YXGH600 R6YXG700 R6YXG800 R6YXG900 R6YXG1000 R6YXX ,01 0,01 0,02 0,02 0,02 0,02 0,02 0,05 0,01 0,01 0,01 0,01 0,01 0,01 0,01 0,02 0,004 0,004 0,004 0,004 0,004 0,004 0,004 0, (300) 200(300) 200(400) 200(400) 200(400) 200(400) 200(400) (1700) 2300(1700) 2300(1700) 2300(1700) 2300(1700) 2300(1700) 2300(1700) (*3) 0.46 (*3) 0.47 (*3) 0.42 (*3) 0.48 (*3) 0.49 (*3) 0.49 (*3) 0.91 (*3) (50) 50(52) 52(54) 54(56) 56(58) 124 RGU3 RGU3 RGU3 RGU3 RGU3 RGU3 RGU3 RGU2 XP series Dust-proof & drip-proof type XS series Wall-hanging, ceiling-hanging, inverse type 0 R6YXP350 R6YXP400 R6YXP500 R6YXP600 R6YXP700 R6YXP800 R6YXP1000 R6YXSH300 R6YXSH400 R6YXS500 R6YXS600 R6YXS700 R6YXS800 R6YXS ,01 0,01 0,02 0,02 0,02 0,02 0,02 0,01 0,01 0,02 0,02 0,02 0,02 0,02 0,01 0,01 0,01 0,01 0,01 0,01 0,01 0,01 0,01 0,01 0,01 0,01 0,01 0,01 0,005 0,005 0,005 0,005 0,005 0,005 0,005 0,005 0,005 0,005 0,005 0,005 0,005 0, (300) 200(300) 200(400) 200(400) 200(400) (300) 200(300) 200(400) 200(400) 200(400) ) 0.54 (*3) 0.66 (*3) 0.53 (*3) 0.56 (*3) 0.57 (*3) 0.57 (*3) 0.6 (*3) 0.54 (*3) 0.66 (*3) 0.53 (*3) 0.56 (*3) 0.57 (*3) 0.57 (*3) 0.6 (*3) sq x 10 wires; ø 4 x sq x 20 wires; ø 6 x sq x 10 wires; ø 4 x sq x 20 wires; ø 6 x 3 N.A. N.A. RGU2 RGU2 RGU2 RGU2 RGU2 N.A. N.A. RGU2 RGU2 RGU2 RGU2 RGU2 m in vertical directions

7 One controller for all robot models The YRC is the smallest robot controller able to control the complete SCARA line-up. It is easy to use because it implements application functions while being a powerful tool that enables low-level programming. Key features and benefits: Compact controller Simple programming by teaching pendant or software Advanced motion functions Absolute data Separate power source system: control + main power Up to 4 optional boards for increased functionality Integrated vision system and conveyor tracking function (optional) Teaching pendant Software Drive method Coordinates Programming Tools: Display 40 characters 15 lines Enabling switch Optional Emergency stop switch Serial interface Normally closed contact point (with lock function) RS-422: 1CH (dedicated to communication with controllers) Operating temperature 0 to 40 C Operating humidity 35 to 80% RH (non-condensing) Weight 600g Cable length 5m, 12m (option) Dimensions YRC Robot controller PTP (point-to-point) motion, arch motion, linear interpolation, circular interpolation Cartesian coordinates, Joint coordinates, User coordinates, Tool coordinates Motion Position indication units Pulses, mm (millimetres), deg (degrees) Automatic acceleration setting based on robot model type and end mass parameter Acceleration setting Setting based on acceleration and deceleration parameter (Setting by 1% unit, changeable in the program) Zone control (optimum speed suitable for the arm position of the scara robot) Program language Pseudo-Basic (Conforming to JBS B8439 SLIM language) Multitasks 8 tasks Sequence program 1 program Programming Memory size 364 KB: Total of program and point data, 84KB: Size for program when maximum numbers of points is used Programs 100 programs; maximum lines per program; 98 kb maximum capacity per program Points 10,000 points: maximum numbers of points Point-data input method Manual data input (coordinate data input). Direct teaching. Communications. Teaching playback, off-line teaching (data input from outside) Memory backup Lithium battery (service life 4 years at 0 C to 40 C) I/O Input General input: 16 points, dedicated input 9 points (NPN/PNP specifications selectable) STD. DIO I/O I/O output General output: 8 points, dedicated output 11 points SAFETY Emergency stop input Relay contact Service mode input 1 point (NPN/PNP specifications is set according to STD. DIO setting) Brake output Relay contact External communications RS232C: 1CH (D-SUB9 (female)) RS422: 1CH (for PB only) Maximum power consumption 2500VA Capacity of the connected motor 1600W Dimensions/Weight W180 x H250 x D235 mm (main unit only) / 6,5 kg (main unit only) Basic Power supply voltage Single phase AC200 to 230V, +/- 10% maximum (50/60 Hz) specifications Operating temperature 0 C to 40 C Storage temperature -10 C to 65 C Operating humidity 35% to 85% RH (non-condensing) Noise resistance capacity IEC Level 3 Battery for absolute data backup Lithium battery, data retention time of 1 year Parallel DIO board General purpose input 24 points/board General purpose output 16 points/board (4 boards maximum, compatible with NPN/PNP specifications) DeviceNet, PROFIBUS Dedicated input 11 points, dedicated output 11 points General input 96 points, general output 96 points Options Ethernet Conforming to IEEE802.3, 10 Mbps (10BASE-T) Vision board Camera input (2ch), camera trigger input, PC connection input Tracking board AB phase input, lighting trigger input, PC connection input Lighting control board Lighting trigger input, lighting power input/output Teaching pendant PB Software for PC Scara Studio W 180 x H 250 x D 50 mm (Note: projection of emergency stop button is not included.) Scara Studio Programming, setup and backup function.

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